CN102529964A - Motor vehicle with warning system - Google Patents
Motor vehicle with warning system Download PDFInfo
- Publication number
- CN102529964A CN102529964A CN2011103486249A CN201110348624A CN102529964A CN 102529964 A CN102529964 A CN 102529964A CN 2011103486249 A CN2011103486249 A CN 2011103486249A CN 201110348624 A CN201110348624 A CN 201110348624A CN 102529964 A CN102529964 A CN 102529964A
- Authority
- CN
- China
- Prior art keywords
- automobile
- zone
- environmental sensor
- signal
- matter sources
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
- B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
- Emergency Alarm Devices (AREA)
Abstract
A motor vehicle comprises an environment sensor 4,5 for identifying a source of danger 7 external to the vehicle and detecting at least one first direction 10 in which the source of danger 7 lies when viewed from the vehicle 1, and a loudspeaker arrangement 9vI,9vr,9h1,9hr which can be triggered, when a source of danger 7 has been identified, to generate a warning signal which for a listener in a passenger cell of the vehicle 1 appears to come from the first direction 10. The environment sensor 4,5 is furthermore equipped to trigger the loudspeaker arrangement 9vI,9vr,9h1,9hr to produce a second signal following the warning signal, which for the listener appears to come from a second direction 12 different from the first direction 10.
Description
Technical field
The present invention relates to a kind of automobile that has warning device, said warning device is applicable to automobile driver is aroused attention to the dangerous matter sources of motor vehicle environment.
Background technology
DE 10300275A1 is known following warning device; It has and is used to discern the automobile external dangerous matter sources and knows the environmental sensor of seeing dangerous matter sources direction of living in from the automobile angle; And has a controlled microphone device; To detect under the situation of dangerous matter sources, be created in automobile driver and it seems the alerting signal of sending by the dangerous matter sources direction.Said alerting signal should be able to make the attention of chaufeur attracted to the dangerous matter sources direction, can recognize dangerous matter sources early to guarantee him, and has the ability early, correctly to tackle the danger that is produced by dangerous matter sources.
As everyone knows, in the face of urgent dangerous situation the time much human can not be fast, correctly react, freeze but can meet snake as the rabbit of as the saying goes.At this moment, also panic simultaneously although they can recognize danger just because of realized danger, so that do not have ability to make timely, correct decision.Concerning the viewer, dangerous situation has menace and fascination, and the hazard level that causes thus is just big more.Conventional apparatus allegedly can the alerting signal that viewer's sight line is transferred on the dangerous matter sources have been brought danger simultaneously; Promptly; Because the relevance of not directly discerning between alerting signal and the visible dangerous matter sources is compared the situation that does not have accessory equipment and recognize dangerous matter sources, chaufeur can be violated dimmed more easily.At this moment, the needed time of the situation that the chaufeur understanding and recoganization arrives is not enough for providing the actv. counter-measure.
Summary of the invention
Technical matters to be solved by this invention is, provides a kind of automobile that has warning device, and said warning device can not only make chaufeur discover dangerous situation fast, and can also impel him to take quick, correct counter-measure.
This technical matters can be able to solve through following mode; That is, automobile is had be used to discern the automobile external dangerous matter sources and obtain the environmental sensor of at least one first direction (seeing that from the automobile angle said dangerous matter sources is positioned at this first direction), and have the microphone device that to control; This microphone device is used for identifying under the situation of dangerous matter sources; The alerting signal that generation can be heard, for the hearer in the car occupant cabin, said alerting signal is transmitted by first direction seemingly; In addition, environmental sensor also is arranged for handling microphone device, and after alerting signal, producing second signal that can be heard, this signal is for the hearer, and the second direction that by relative first direction deflection has taken place seemingly transmits.Like this, through hearer's attention is at first guided to dangerous matter sources along first direction, then again along second direction with it from the dangerous matter sources call away to, then the immerse state of hearer's attention on dangerous matter sources can be able to interrupt.Through driver vision is at first guided to dangerous matter sources, then transfer to another direction again, chaufeur will be easier to its attention is spontaneously thrown off from dangerous matter sources, and forward on the route that automobile can turn to, with the source that finally averts danger.
Ground conforms to purpose; Environmental sensor also is arranged in the ambient environment of automobile, identifying the zone that automobile can arrive safe and sound; And control the microphone device that is used to produce second earcon as follows, that is, make said secondary signal as if transmit by corresponding said zone.
According to certain modification; As if second direction---secondary signal come from this direction; Instead is directly pointed to respective regions, and in the direction of two separations, chooses, and this both direction turns to gyratory directions corresponding respectively with for reaching required certain of above-mentioned zone.In other words, as if as if secondary signal can be transmitted by for example left side for the driver, turns to towards the left side to impel it, also can be transmitted by the right side for the driver, to impel it towards right hand steering.
According to certain extremely beneficial design plan, environmental sensor can point between second mode of operation that first mode of operation be identified the zone and second direction choose in two discrete directions in second direction and switch.The first mode of operation particularly suitable be that the driver is easy to the source that in the process of running at high speed, averts danger, and second mode of operation is particularly favourable under low-tach manipulation, promptly compares the operation particularity, and is littler to the requirement of reaction rapidity.
Thus, what also conform to purpose is that environmental sensor can automatically be changed between first and second mode of operations according to the speed of automobile.
For making things convenient for the driver limited in sight line---particularly when shunting; Automobile is adjusted to the no hazardous location that records by environmental sensor; Environmental sensor also can be arranged for and continue to produce second signal that can be heard, and correctly is adjusted to until automobile to get on the desired direction in said zone.
Description of drawings
Other feature and advantage of the present invention can be from follow-up to drawing the description with reference to accompanying drawing that each embodiment did.In the accompanying drawing:
Fig. 1 under first kind of application scenario according to automobile of the present invention;
The second kind design plan according to of the present invention automobile of Fig. 2 in Fig. 1 application scenario; And
Fig. 3 under second kind of application scenario according to automobile of the present invention.
The specific embodiment
Fig. 1 shows the scheme drawing according to automobile 1 of the present invention, in the parking stall 2 between two parking stalls that said automobile 1 needs to be stopped respectively to be occupied by vehicle 3.The environmental sensor of automobile 1 comprises the sensing unit that is used to collect the data that characterize automotive environment in a large number; Like camera 4, radar/super sonic-transmission-receiving element or analogue; Said sensing unit is distributed on the vehicle body periphery of automobile 1, to nose into out the ambient environment of automobile---and be that automobile 1 front and back are through turning to arrived in the zone of but not having the travel direction switching-over or rather at least.In addition, environmental sensor also comprises processing unit 5, and said processing unit goes out the 3D modelling of peripheral vehicle environment by means of the image calculation that is provided by camera 4.Processing unit 5 also is used for catching the signal that characterizes bearing circle 6 (causing the tire that turns to by it or rather) position; By means of this signal; Processing unit 5 can be predicted the path of automobile in the three-dimensional environment model, and can calculate a such position 7 especially through this prediction, in said position 7; If the course that chaufeur is not corrected automobile---for example perhaps influence car speed through hand of rotation dish 6, then automobile 1 will bump against with the obstacle like adjacent vehicle 3 and so on.
In the passenger accommodation 8 of automobile 1, be mounted with a plurality of loudspeakers---preferred four, these loudspeakers are labeled as 9vl respectively according to its layout onboard, 9vr, 9hl, 9hr.Loudspeaker 9vl, 9vr, 9hl, 9hr can load sound signal by processing unit 5 independently of each other.In Fig. 1, represent such direction with arrow 10, that is, along this direction---from the visual angle of automobile 1 chaufeur, if turn to the location to can not get correcting, then automobile will bump against with the vehicle that is parked in the adjacent position 3.Processing unit 5 is two loudspeaker 9hl between operator's saddle 13 and dangerous point 7, and 9hr loads audio frequency-alerting signal, wherein; Ratio between phase place and the amplitude---audio alarming signal infeeds loudspeaker 9hl with phase place and amplitude; Among the 9hr, selected as follows, promptly; As if chaufeur can the unique audible ringing signal of perception, and this signal comes from direction 10.For chaufeur can be understood intuitively, alerting signal can be imitated clank sound or swish.
By means of environmental model, processing signals 5 can identify a zone 11 that enough is used to hold automobile 1 in the ambient environment of automobile 1.If there are a plurality of above-mentioned zones 11, then processing unit 5 can therefrom be selected only to need steering wheel position is done the minimum zone 11 that just can arrive of revising, because this target most possible and chaufeur is coincide.The direction of arrow 12 expression does, sees from the chaufeur angle, can arrive zone 11 along this direction.Processing unit 5 is in above-mentioned direction 12 both sides and the loudspeaker 9hl between operator's saddle 13 and zone 11; 9hr loads second signal; At this, be input to loudspeaker 9hl, the sound signal among the 9hr; Its amplitude is determined to be with the phase place ratio, so that chaufeur is formed with the sense of hearing impression of signal from direction 12.Hear and locate the chaufeur of these two signals, know danger from which direction 10 approaches, also know necessary whichaway 12 rectifications of automobile, with out of danger.
First alerting signal preferably employing is made us uncomfortable sound; This sound is associated chaufeur unconsciously and is disturbed or thing beastly; And in contrast; Following closely from second direction be used for attention is attracted the signal open from dangerous matter sources, can with directly perceived on be used to show actively that favourable sound links together, and obviously distinguish with first signal thus.
For substituting the signal of sound form, processing unit 5 also can provide signal by speech form, for example; Reporting " noticing that the right side is dangerous " by computer perhaps " please dodges towards the left side "; Wherein, under possible situation, according to the smoothing degree of employed sensing unit and signal conditioning; Also can specify dangerous type, for example " automobile ", " pedestrian ", " kerb " or the like.
Fig. 2 shows second according to automobile 1 of the present invention, and it is equally just being stopped in the parking stall 2 between the two automobiles 3.The difference of automotive environment sensor among the environmental sensor of this automobile 1 and Fig. 1, the programming that only is processing unit 5 is mode of operation in other words.As in first design plan, processing unit 5 at first dopes position 7---if the bearing circle location can not get correcting, then automobile 1 will bump against with the vehicle of parking 3 in this position; And processing unit 5 is through the loudspeaker 9hl between chaufeur and above-mentioned position 7, and 9hr provides alerting signal as follows,, comes from position 7 at the chaufeur signal that is.Yet, second signal that produces subsequently, no longer with seemingly from waiting that the mode of sailing zone 11 into provides, but that side of coming chaufeur on the comfortable automobile 1 must bearing circle 6 be changed over to 7 avoiding bumping in the position, and gets into zone 11.Under the situation of Fig. 2, loudspeaker 9vl, 9vr will be handled, and to pass to the such impression of chaufeur, that is, has second signal to transmit along direction 14 from the left side at its seat 13.Second signal can produce always continuously or discontinuously, corrected by correct until automobile 1, thereby reaches zone 11.If it is too violent that chaufeur is beaten bearing circle 6, then can set, processing unit 5 will make loudspeaker 9vr, and 9hr works, thereby passes to the impression that chaufeur has sound to transmit the other way around, and impels him to turn in the opposite direction.
In this way, chaufeur not only obtains to avoiding the indication of dangerous this travel direction of having a mind to choose from processing unit 5, but also obtains the control that desired travel direction has reached through the disappearance of second signal.The source of second signal is limited in both direction, this make chaufeur can be simply, reliably signal is positioned.
Fig. 3 shows according to automobile 1 of the present invention once more, yet, be under second kind of application scenario.Said automobile advances on just like express highway at the road with many moving traffic lane 15,16 and a drivable side line 17.Just in time there is two automobiles 3 that collision has taken place in the place ahead of automobile 1.At this moment, dangerous point 7 is to lean on back one afterbody in two accident vehicles 3.Processing unit 5 is still controlled two loudspeakers between chaufeur and dangerous point 7 on the automobile 1---specifically for anterior loudspeaker 9vl, 9vr so that chaufeur produce have alerting signal from the position 7 impression that transmit from direction 10 in other words.
For this reason, when the distance between automobile 1 and 3 was enough, what meet purpose was that processing unit 5 provides the emergency brake action, so that automobile 1 stops on its moving traffic lane 15.Yet, when the speed of automobile 1 is too high for above-mentioned emergency brake action, must find such zone 11, automobile 1 can be dodged entering should the zone, bumps avoiding.In the situation shown here, parallel track 16 is closely taken, thereby, just there is not the suitable zone of dodging yet.Processing unit 5 finds above-mentioned zone 11 on side line 17, and controls loudspeaker 9vl, and 9vr has second signal just from said regional 11 impression that transmit so that chaufeur produces.Like this, draw away from accident point wittingly, and adjust in the behavior of dodging, the possibility of avoiding knocking accident vehicle 3 according to automobile 1 of the present invention will be improved greatly through attention with chaufeur.
The mode of operation of processing unit 5 under situation shown in Figure 3, the situation with Fig. 1 is identical basically, but with Fig. 2 in mode of action difference to some extent.For comprehensive these two kinds of modes of action advantage separately, can processing unit 5 be set with purpose with conforming to, with speed according to automobile 1; Between with reference to the mode of action of figure 2 and the mode of action, switch with reference to figure 3; For example, when the speed of a motor vehicle was lower than representative type boundary value 5-20km/h, processing unit adopted the operation scheme of Fig. 2; And when the speed of a motor vehicle is higher than this boundary value, then adopt the mode of action of Fig. 3.
The Reference numeral guide look
1 automobile
2 parking stalls
3 vehicles
4 cameras
5 processing units
6 bearing circle
7 positions
8 passenger accommodationes
9 loudspeakers
10 directions
11 zones
12 directions
13 operator's saddles
14 directions
15 moving traffic lane
16 moving traffic lane
17 lies
Claims (6)
1. one kind has environmental sensor (4,5) and microphone device (9vl, 9vr, 9hl; Automobile 9hr), said environmental sensor are used to discern the dangerous matter sources (7) of automobile external and obtain at least one first direction (10), see that from automobile (1) angle said dangerous matter sources (7) is positioned on this first direction, and said microphone device can be controlled; So that under the situation that identifies dangerous matter sources (7), produce alerting signal, this alerting signal is transmitted by first direction (10) for the hearer in automobile (1) passenger accommodation seemingly, it is characterized in that; Said environmental sensor (4,5) also is arranged to said microphone device (9vl, 9vr; 9hl 9hr) controls, after alerting signal, to make it to produce secondary signal; Said secondary signal is concerning the hearer, and the second direction (12,14) that by relative first direction (10) deflection has taken place seemingly transmits.
2. according to the described automobile of claim 1; It is characterized in that said environmental sensor (4,5) is arranged in the ambient environment of automobile, identifying the zone (11) that automobile (1) can arrive non-dangerously; And said second direction (12) is pointed to said zone (11).
3. according to the described automobile of claim 1; It is characterized in that; Said environmental sensor (4; 5) be arranged in the ambient environment of automobile, identifying the zone (11) that automobile (1) can arrive non-dangerously, and, said second direction (14) from two separations, choose the direction that turns to gyratory directions to conform to required respectively with arriving said zone (11).
4. according to the described automobile of claim 1; It is characterized in that; Said environmental sensor (4; 5) be arranged in the ambient environment of automobile, identifying the zone (11) that automobile (1) can arrive non-dangerously, and, can second direction (12) point to should zone (11) first mode of operation and second direction (14) between second mode of operation two separations, that choose in the direction that turns to gyratory directions to conform to required respectively, switch with arriving regional (11).
5. according to the described automobile of claim 4, it is characterized in that said environmental sensor (4,5) is arranged between first and second mode of operations, switching according to the speed of automobile (1).
6. according to each described automobile in the claim 2 to 5, it is characterized in that said environmental sensor (4,5) is arranged for continuing to produce secondary signal, is corrected on the required direction (12) in arrival zone (11) until automobile.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010046915A DE102010046915A1 (en) | 2010-09-29 | 2010-09-29 | Motor vehicle with warning system |
| DE102010046915.7 | 2010-09-29 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102529964A true CN102529964A (en) | 2012-07-04 |
| CN102529964B CN102529964B (en) | 2016-03-09 |
Family
ID=44937515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110348624.9A Expired - Fee Related CN102529964B (en) | 2010-09-29 | 2011-09-29 | With the automobile of warning device |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US8686843B2 (en) |
| CN (1) | CN102529964B (en) |
| DE (1) | DE102010046915A1 (en) |
| GB (1) | GB2484183B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278638A (en) * | 2017-07-20 | 2019-01-29 | 安波福电子(苏州)有限公司 | A kind of voice auxiliary parking system and method for parking |
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| JP2012155655A (en) * | 2011-01-28 | 2012-08-16 | Sony Corp | Information processing device, notification method, and program |
| DE102012024930A1 (en) * | 2012-12-20 | 2014-06-26 | GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) | Vehicle with distance monitoring device |
| DE102013202025A1 (en) * | 2013-02-07 | 2014-08-07 | Robert Bosch Gmbh | Method and device for evasion support for a motor vehicle |
| JP6120371B2 (en) * | 2013-10-23 | 2017-04-26 | クラリオン株式会社 | Automatic parking control device and parking assist device |
| FR3021913B1 (en) * | 2014-06-10 | 2016-05-27 | Renault Sa | DETECTION SYSTEM FOR A MOTOR VEHICLE FOR SIGNALING WITH A SOUND SCENE A FAULT IN VIGILANCE OF THE DRIVER IN THE PRESENCE OF AN IMMEDIATE HAZARD |
| US10229595B2 (en) | 2015-01-14 | 2019-03-12 | Jaguar Land Rover Limited | Vehicle interface device |
| GB2534163B (en) * | 2015-01-14 | 2017-11-22 | Jaguar Land Rover Ltd | Vehicle interface device |
| DE102015111692A1 (en) | 2015-07-17 | 2017-01-19 | Ford Global Technologies, Llc | A method of acoustically alerting vehicle occupants to a component or device of the vehicle |
| FR3066635A1 (en) * | 2017-05-19 | 2018-11-23 | STMicroelectronics (Grand Ouest) SAS | METHOD AND DEVICE FOR AIDING THE PARKING OF A VEHICLE |
| US10424198B2 (en) * | 2017-10-18 | 2019-09-24 | John Michael Parsons, JR. | Mobile starting light signaling system |
| CN109987024B (en) * | 2017-12-29 | 2022-07-15 | 安波福电子(苏州)有限公司 | Parking auxiliary system and method based on audio direction information |
| DE102018203661A1 (en) | 2018-03-12 | 2019-09-12 | Ford Global Technologies, Llc | Method and apparatus for testing directional hearing in a vehicle |
| DE102019210554A1 (en) * | 2019-07-17 | 2021-01-21 | Psa Automobiles Sa | Method for assisting a driver of a motor vehicle when parking, computer program product, driver assistance system and motor vehicle |
| US11044961B1 (en) * | 2019-10-09 | 2021-06-29 | Jessel Craig | Safety helmet |
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-
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- 2011-09-19 GB GB1116180.9A patent/GB2484183B/en not_active Expired - Fee Related
- 2011-09-29 US US13/248,169 patent/US8686843B2/en not_active Expired - Fee Related
- 2011-09-29 CN CN201110348624.9A patent/CN102529964B/en not_active Expired - Fee Related
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| CN109278638A (en) * | 2017-07-20 | 2019-01-29 | 安波福电子(苏州)有限公司 | A kind of voice auxiliary parking system and method for parking |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102010046915A1 (en) | 2012-03-29 |
| GB2484183B (en) | 2016-07-13 |
| CN102529964B (en) | 2016-03-09 |
| GB201116180D0 (en) | 2011-11-02 |
| US8686843B2 (en) | 2014-04-01 |
| US20120081219A1 (en) | 2012-04-05 |
| GB2484183A (en) | 2012-04-04 |
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